/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWSIM_UTIL_GRASPSTRATEGY_HPP_
#define RWSIM_UTIL_GRASPSTRATEGY_HPP_

#include "StateSampler.hpp"

#include <rw/core/PropertyMap.hpp>
#include <rw/core/Ptr.hpp>

namespace rwsim { namespace util {

    /**
     * @brief a GraspStrategy define how the initial configuration of a grasping
     * system is generated.
     *
     * Example:
     * A simple GraspStrategy is to randomly place the robot hand with its palm pointing toward
     * the object and randomly generate collision free finger configurations.
     *
     * Another example would be to load all start configurations from some file...
     */
    class GraspStrategy
    {
      public:
        typedef rw::core::Ptr< GraspStrategy > Ptr;

        virtual StateSampler::Ptr getSampler () = 0;

        virtual std::string getIdentifier () = 0;

        virtual rw::core::PropertyMap& getSettings () = 0;

        virtual void applySettings () = 0;
    };

}}     // namespace rwsim::util
#endif /* GRASPSTRATEGY_HPP_ */
